CN110065047A - Building element forming machine people - Google Patents
Building element forming machine people Download PDFInfo
- Publication number
- CN110065047A CN110065047A CN201910458109.2A CN201910458109A CN110065047A CN 110065047 A CN110065047 A CN 110065047A CN 201910458109 A CN201910458109 A CN 201910458109A CN 110065047 A CN110065047 A CN 110065047A
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- CN
- China
- Prior art keywords
- crawl
- forming machine
- building element
- element forming
- machine people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000008602 contraction Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000003786 synthesis reaction Methods 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000003319 supportive effect Effects 0.000 description 3
- 206010000372 Accident at work Diseases 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009435 building construction Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
- Manipulator (AREA)
Abstract
It includes pedestal (10) that the present invention, which discloses a kind of building element forming machine people, running gear (20), frame body (30), jacking system (40), at least one crawl leveling system (50), at least one auxiliary shoring system (60) and fixed system (80), running gear (20) and fixed system (80) are set to pedestal (10) bottom, frame body (30) is set to pedestal (10), jacking system (40) includes the controllable crane (41) of lifting, crane (41) is slidably connected frame body (30), crawl leveling system (50) includes the base portion (51) for being set to crane (41) and flexible controllable several telescopic rods (53) of rotation connection base portion (51), auxiliary shoring system (60) includes the flexible of rotary setting crane (41) can The telescope support (61) of control.The application can realize that vertical and horizontal member using the automation splicing of template, realizes that synthesis proposes effect drop originally.
Description
Technical field
The present invention relates to technical field of buildings more particularly to a kind of building element forming machine people.
Background technique
Currently, template splicing is usually manually fixed the shape for surrounding building element when building by building construction,
Then by concreting in the template, when later concrete coagulation molding just obtains required building element.Artificial splicing is solid
The working strength of solid plate is larger, relatively tired, and needs more labour, and work efficiency is not high, and with the change of people's idea, more
It to be unwilling to be engaged in the assembly working of building template come more young men, cost of labor is higher and higher, therefore, development architecture component
Forming machine people is imperative to realize building element automatic forming.
Summary of the invention
The purpose of the present invention is to provide it is a kind of be able to achieve vertical and horizontal member using template automatic assembling, be not necessarily to
Man-made assembly and high-efficient building element forming machine people.
To achieve the above object, the present invention provides a kind of building element forming machine people, including pedestal, running gear,
Frame body, jacking system, at least one crawl leveling system, at least one auxiliary shoring system and fixed system, the Running System
System and fixed system are set to the base bottom, and the running gear, which is stretched, controllably has holding state and contraction state, described
Frame body is set on the pedestal, and the jacking system includes the controllable crane of lifting, and the crane is slidably connected to described
Frame body, the crawl leveling system include that the base portion for being set to the crane and rotation are connected to the flexible controllable of the base portion
Several telescopic rods, the auxiliary shoring system includes rotary setting in the flexible controllable telescope support of the crane.
Compared with prior art, in the construction process, building element forming machine people is moved to by institute by running gear
Position is needed, operates running gear to contraction state, fixed system plays a supportive role.Jacking system drives crawl leveling system mobile
To certain position, template is fixed on required position using crawl leveling system, can not only realize the automatic of vertical member template
Change assembling, can also be achieved the automatic assembling of horizontal member template, form die cavity, then for pouring.Meanwhile auxiliary shoring system
Flexible controllable telescope support abut ground so that pedestal is more stable with frame body.Therefore, the application can realize vertical and water
The automatic assembling of flat component template avoids the complexity and uneven stability of man-made assembly, reduces the dependence to worker, reduces people
Work cost reduces industrial accident incidence, improves construction speed, shortens the construction period, and promotes the formed precision of building element, pushes intelligence
Intelligent construction and the unmanned process built, have good returns of investment and social benefit.
Preferably, further including flexible at least one controllable mechanical arm that sliding is set to the crane, the building structure
Part forming machine people includes two crawl leveling systems, and the crawl leveling system of one of them is set to the institute of vertical direction
The extension end of mechanical arm (70) is stated, wherein another crawl leveling system is set to stretching for the mechanical arm of horizontal direction
Outlet.
Preferably, the building element forming machine people includes five crawl leveling systems, the crawl of one of them
Leveling system is set to the extension end of the mechanical arm (70) of vertical direction, crawl leveling system described in other four is set respectively
It is placed in the extension end of the mechanical arm of horizontal direction.
Preferably, the both ends of the telescopic rod have spherical protrusion, the base portion, which is equipped with, supplies the protrusion rotary setting
Groove.
Preferably, the telescopic rod is located at another protrusion end equipped with the holding section for engaging template.
Preferably, the jacking system further includes the first hydraulic control device and telescopic mast, the telescopic mast and the liter
Frame is dropped to be connected, first hydraulic control device drive the telescopic mast stretch out or retract with drive the crane rise or under
Drop.
Preferably, the crawl leveling system further includes the second hydraulic control device, second hydraulic control device is driven
The telescopic rod is moved to stretch out or retract.
Preferably, the crawl leveling system further includes control system, the control system controls the telescopic rod around institute
Base portion is stated to be rotated.
Preferably, the crawl leveling system includes driving device, the driving device drives the mechanical arm in described
Crane carries out rising or falling movement.
Preferably, building element forming machine people, which further includes that pedestal is horizontally disposed, controllable flexible support of stretching
When bar, the telescopic strut and the telescope support are in stretching state, the telescopic strut, the telescope support and described stretch
Contracting column forms triangular structure.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of building element forming machine people of the present invention.
Fig. 2 is the front view of the people of building element forming machine shown in Fig. 1.
Fig. 3 is the structural schematic diagram of another embodiment of building element forming machine people of the present invention.
Fig. 4 is the front view of the people of building element forming machine shown in Fig. 3.
Fig. 5 is the structural schematic diagram of the another embodiment of building element forming machine people of the present invention.
Fig. 6 is the structural schematic diagram of another angle of the people of building element forming machine shown in Fig. 5.
Fig. 7 is the structural schematic diagram of building element forming machine people's another embodiment of the present invention.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.
As Figure 1-Figure 2, building element forming machine people 100 of the invention, including pedestal 10, running gear 20, frame
Body 30, jacking system 40, at least one crawl leveling system 50, at least one auxiliary shoring system 60 and fixed system 80, row
Walking system 20 and fixed system 80 are set to 10 bottom of pedestal, and running gear 20 is flexible controllably to have holding state and contraction state,
Frame body 30 is set on pedestal 10, and jacking system 40 includes going up and down controllable crane 41, and crane 41 is slidably connected to frame body 30,
Crawl leveling system 50 includes that the base portion 51 for being set to crane 41 and rotation are connected to the flexible of base portion 51 and controllable several stretch
Contracting bar 53, auxiliary shoring system 60 include rotary setting in the flexible controllable telescope support 61 of crane 41.Wherein, Running System
When system 20 is located at contraction state, fixed system 80 plays a supportive role, and when running gear 20 is located at holding state, running gear 20 is risen
Supporting role.In actual use, running gear 20 is the universal wheel with Telescopic, can be facilitated to building element forming machine
People 100 moves, and when being moved to required position, running gear 20 is contracted to contraction state, so that fixed system 80 resists
Loading end will not be moved so that building element forming machine people 100 can be stable is supported with ensureing it at work
It is dynamic.In the present embodiment, crawl leveling system 50 is set on the horizontal position of crane 41, can be used for using mould to vertical member
The automatic assembling of plate 90.
Fig. 3-Fig. 4 is please referred to, building element forming machine people 100 further includes that sliding is set to the flexible controllable of crane 41
At least one mechanical arm 70, building element forming machine people include two crawl leveling systems 50, the crawl leveling of one of them
System 50 may be disposed at the extension end of the mechanical arm 70 of vertical direction, wherein another crawl leveling system 50 may be disposed at level
The extension end of the mechanical arm 70 in direction.In the present embodiment, the crawl leveling system 50 of one of them is set to the top of crane 41
Portion can be used for using horizontal member the automatic assembling of template 90；Another crawl leveling system 50 is set to horizontal direction
The extension end of mechanical arm 70 can be used for using vertical member the automatic assembling of template 90.That is, one of them is grabbed
Leveling system 50 is taken to be arranged along 41 vertical direction of crane, another crawl leveling system 50 is horizontally disposed.
Please refer to Fig. 1-Fig. 4, jacking system 40 further includes the first hydraulic control device and telescopic mast 43, telescopic mast 43 and is risen
It drops frame 41 to be connected, the first hydraulic control device drives telescopic mast 43 to stretch out or retract to drive crane 41 to rise or fall.When
First hydraulic control device controls telescopic mast 43 and rises, and crane 41 is driven to rise, so that being located at 41 top of crane
Crawl leveling system 50, which rises, is at design position to grab template 90.Further, crawl leveling system 50 further includes the
Two hydraulic control devices, the second hydraulic control device drive telescopic rod 53 to stretch out or retract.It is driven using the second hydraulic control device
Dynamic telescopic rod movement is adjusted 90 position of template to realize, improves precision.Further, crawl leveling system 50 is also wrapped
Control system is included, control system control telescopic rod 53 is rotated around base portion 51.Telescopic rod 53 is controlled using control system
It is rotated around base portion 51 and flexibly and easily reaches adjustment purpose.General activity control mode can be used i.e. in control system
Can, the big data that Internet of Things collection especially can be used accurately adjusts 90 position of template.In order to make to be located at crane 41
50 activity of crawl leveling system of side is more convenient, and crawl leveling system 50 includes third hydraulic control device, the hydraulic control of third
Device driving mechanical arm 70 processed is stretched out or is retracted.Crawl leveling system 50 further includes driving device, and driving device drives telescopic machine
Tool arm 70 carries out rising or falling movement in crane 41.That is, passing through drive when crane 41 rises to certain position
Dynamic device band moves mechanical arm 70 and carries out rising or falling movement in crane 41, to reach more suitable position, then utilizes the
Three hydraulic control devices drive telescopic mechanical arm 70 to move, to facilitate crawl and fixed form 90.Specifically, mechanical arm 70 wraps
The support arm 71, crawl arm 73 and auxiliary support arm 75 for stretching controllable are included, support arm 71, crawl arm 73 and auxiliary support arm 75 are divided
It is not controlled by different driving devices, grabs template 90 first with crawl arm 73, it is then fixed using support arm 71 and template 90,
Template 90 is extended into design position.When 90 width of template is larger, assists to support by auxiliary support arm 75, guarantee template 90
It is firm.
Wherein, the both ends of telescopic rod 53 have spherical protrusion 531, and base portion 51 is equipped with to be set for the rotation of a wherein protrusion 531
The groove set.By hydraulic-driven protrusion 531 is rotated to be adjusted any angle so as to convenient in groove,
It is correspondingly arranged the groove of installation protrusion 531 in the back side of template 90, to facilitate docking to grab.Stablize to grab template 90, stretches
Contracting bar 53 is located at another 531 end of protrusion equipped with the holding section for engaging template 90.When the protrusion of telescopic rod 53 531 is located at template
In 90 groove, it is engaged using holding section, to protrusion 531 is fixed in the groove of template 90, while can be in template
Rotation is adjusted at any angle in 90 groove with realizing.
Referring to FIG. 1, auxiliary shoring system 60 further includes the 4th hydraulic control device, the driving of the 4th hydraulic control device is stretched
Contracting bracket 61 is stretched out or is retracted.It is stretched out using the 4th hydraulic control device driving telescope support 61 to abut loading end.Further,
Building element forming machine people 100, which further includes that pedestal 10 is horizontally disposed, the telescopic strut 11 for stretching controllable, support of stretching
When bar 11 and telescope support 61 are in stretching state, telescopic strut 11, telescope support 61 and telescopic mast 43 form triangular structure.
It namely controlling telescope support 61 by hydraulic-driven and stretches out and stretched out with telescopic strut 11, the two is connected together in certain position,
Telescopic strut 11 supports ground plane by fixed system 80, when telescopic strut 11, telescope support 61 and telescopic mast 43 form triangle
When structure, to be further ensured that the stability of building element forming machine people 100 at work.When not needing using flexible branch
When frame 61, telescope support 61 can be driven to retract by the 4th hydraulic control device, reduce occupied space, convenient transportation and movement.
Fig. 5-Fig. 6 is please referred to, in the embodiment, building element forming machine people includes three crawl leveling systems 50,
One of crawl leveling system 50 be set to vertical direction the mechanical arm 70 extension end, another two crawl leveling system
System 50 be respectively arranged at it is horizontal be divided to two mechanical arms 70 extension end, vertical and horizontal member can be completed at the same time and use template 90
Automatic assembling.Referring to FIG. 7, building element forming machine people includes five crawl leveling systems 50, one of them is grabbed
Leveling system 50 is taken to be set to the top of crane 41, the i.e. extension end of the mechanical arm 70 of vertical direction, other four crawl
Leveling system 50 is respectively arranged at the extension end of the mechanical arm 70 of horizontal position, is made with being completed at the same time multiple vertical and horizontal members
With the automatic assembling of template 90.
Illustrate lower the working principle of the invention below with reference to Fig. 1-Fig. 7:
It, can be easily by building element forming machine using running gear 20 when building element forming machine people 100 works
People 100 is moved to required position, and then running gear 20 is shunk, and fixed system 80 is supported in loading end, for playing a supportive role.
First hydraulic control device driving telescopic mast 43 is stretched out to drive crane 41 to rise, so that driving is located at 41 top of crane
It grabs leveling system 50 and realizes that horizontal member uses the automatic assembling of template 90.Third hydraulic control device drives mechanical arm 70
It stretches out to drive the crawl leveling system 50 for the extension end for being installed on mechanical arm 70 to realize that vertical member uses the automatic of template 90
Change assembling.Second hydraulic control device drives telescopic rod 53 to stretch out or retract, to adjust the position of template 90.Control system control
Telescopic rod 53 is rotated around base portion 51, the accurate position for adjusting template 90.
It compared with prior art, in the construction process, will by running gear 20 when running gear 20 is located at holding state
Building element forming machine people 100 is moved to required position, and operation running gear 20 is located at contraction state, and fixed system 80 plays branch
Support effect.Jacking system 40 drives crawl leveling system 50 to be moved to certain position, using crawl leveling system 50 by template 90
It grabs and is fixed in required position, can not only realize that vertical member uses the automatic assembling of template 90, can also be achieved water
Flat component uses the automatic assembling of template 90, forms die cavity, then for pouring.Meanwhile the flexible of auxiliary shoring system 60 can
The telescope support 61 of control abuts ground, so that pedestal 10 and frame body 30 are more stable.Therefore, the application can realize vertical and horizontal
Component uses the automatic assembling of template 90, avoids the complexity manually spliced and uneven stability, reduces the dependence to worker, subtracts
Few cost of labor, reduces industrial accident incidence, improves construction speed, shortens the construction period, the formed precision of lifting member, pushes intelligence
Intelligent construction and the unmanned process built, have good returns of investment and social benefit.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (10)
1. a kind of building element forming machine people, it is characterised in that: including pedestal (10), running gear (20), frame body (30), rise
Drop system (40), at least one crawl leveling system (50), at least one auxiliary shoring system (60) and fixed system (80), institute
It states running gear (20) and fixed system (80) is set to the pedestal (10) bottom, the running gear (20) is flexible controllably to be had
Holding state and contraction state, the frame body (30) are set on the pedestal (10), and the jacking system (40) includes lifting can
The crane (41) of control, the crane (41) are slidably connected to the frame body (30), and the crawl leveling system (50) includes
The base portion (51) and rotation for being set to the crane (41) are connected to flexible controllable several telescopic rods of the base portion (51)
(53), the auxiliary shoring system (60) includes rotary setting in the flexible controllable telescope support of the crane (41)
(61)。
2. building element forming machine people as described in claim 1, which is characterized in that further include being set to the crane (41)
Flexible at least one controllable mechanical arm (70), the building element forming machine people includes two crawl leveling systems
(50), the crawl leveling system (50) of one of them is set to the extension end of the mechanical arm (70) of vertical direction,
In it is another it is described crawl leveling system (50) be set to horizontal direction the mechanical arm (70) extension end.
3. building element forming machine people as described in claim 1, which is characterized in that the building element forming machine people packet
Five crawl leveling systems (50) are included, the crawl leveling system (50) of one of them is set to the machinery of vertical direction
The extension end of arm (70), crawl leveling system (50) described in other four is respectively arranged at the mechanical arm (70) of horizontal direction
Extension end.
4. building element forming machine people as described in claim 1, which is characterized in that the both ends of the telescopic rod (53) have
Spherical protrusion (531), the base portion (51) have levelling function and are equipped with the groove for the protrusion (531) rotary setting.
5. building element forming machine people as claimed in claim 4, which is characterized in that the telescopic rod (53) is located at another institute
Protrusion (531) end is stated equipped with the holding section for engaging template.
6. building element forming machine people as described in claim 1, which is characterized in that the jacking system (40) further includes
One hydraulic control device and telescopic mast (43), the telescopic mast (43) are connected with the crane (41), the first hydraulic control
Device processed drives the telescopic mast (43) to stretch out or retract to drive the crane (41) to rise or fall.
7. building element forming machine people as described in claim 1, which is characterized in that the crawl leveling system (50) is also wrapped
The second hydraulic control device is included, second hydraulic control device drives the telescopic rod (53) to stretch out or retract.
8. building element forming machine people as described in claim 1, which is characterized in that the crawl leveling system (50) is also wrapped
Control system is included, the control system controls the telescopic rod (53) and is rotated around the base portion (51).
9. building element forming machine people as described in claim 1, which is characterized in that the crawl leveling system (50) is also wrapped
Driving device is included, the driving device drives mechanical arm (70) the Yu Suoshu crane (41) to carry out rising or falling movement.
10. building element forming machine people as claimed in claim 6, which is characterized in that further include pedestal (10) along level side
To being provided with stretch controllable telescopic strut (11), the telescopic strut (11) and the telescope support (61) are in stretching state
When, the telescopic strut (11), the telescope support (61) and the telescopic mast (43) form triangular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458109.2A CN110065047B (en) | 2019-05-29 | 2019-05-29 | Building element shaping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458109.2A CN110065047B (en) | 2019-05-29 | 2019-05-29 | Building element shaping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110065047A true CN110065047A (en) | 2019-07-30 |
| CN110065047B CN110065047B (en) | 2024-06-04 |
Family
ID=67372021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910458109.2A Active CN110065047B (en) | 2019-05-29 | 2019-05-29 | Building element shaping robot |
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|---|---|
| CN (1) | CN110065047B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110306787A (en) * | 2019-07-31 | 2019-10-08 | 正如(广东)机器人科技有限公司 | External wall template robot |
| CN110778106A (en) * | 2019-12-05 | 2020-02-11 | 湖北大成空间科技股份有限公司 | Scalable turnover mould for assembly type structure |
| CN111550081A (en) * | 2020-05-26 | 2020-08-18 | 正如(广东)机器人科技有限公司 | Building support robot |
| CN111851295A (en) * | 2019-08-26 | 2020-10-30 | 东南大学 | Intelligent bridge pier template loading and unloading device |
| WO2020238680A1 (en) * | 2019-05-29 | 2020-12-03 | 蓝贝湾(广东)科技有限公司 | Building component forming robot |
| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
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